Predictive Motion Control Considering Body Attitude Constraints for Four in-Wheel Motor Vehicles.

The article focuses on the development of a predictive motion control system for four in-wheel motor distributed-drive electric vehicles (FIWMD-EV), addressing body attitude constraints caused by suspension anti-pitch geometry. It proposes a hierarchical control scheme integrating an upper-level learning model predictive control (MPC) enhanced by Gaussian process regression (GPR) to compensate for model mismatches, and a lower-level proportional-integral-derivative (PID) controller that regulates body attitude by computing additional moments and vertical forces distributed to each wheel via an anti-pitch geometric moment distribution matrix. Simulation results on benchmark tasks demonstrate that the proposed controller improves speed and trajectory tracking accuracy by 2.3% and 34.2%, respectively, reduces body attitude constraint violations significantly, and enhances energy efficiency compared to baseline nonlinear MPC and PID controllers. The study highlights a trade-off between model accuracy and computational load and suggests future work on robust adaptive control and improved predictive modeling for FIWMD-EV body attitude stabilization.